Merge pull request #4 from bitcraze/master

업데이트

.gitignore

@@ -1,10 +1,14 @@
+build_info.json
 
 ^bin/dep/all
 bin/*
 .cproject
 .project
 .settings/*
 *~
-config.mk
+tools/make/config.mk
 cflie.*
 version.c
+
+/cf2.*
+/cf1.*

.travis.yml

@@ -0,0 +1,21 @@
+sudo: required
+language: c
+services:
+  - docker
+before_install:
+  - docker pull bitcraze/builder
+script:
+  # Build CF2 basic
+  - docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=CF2
+
+  # Build CF2 with "all" features enabled
+  - docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build clean
+  - docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=CF2 DEBUG=1 "EXTRA_CFLAGS=-DCALIBRATED_LED_MORSE -DIMU_TAKE_ACCEL_BIAS -DIMU_MPU6500_DLPF_256HZ -DMADWICK_QUATERNION_IMU -DDEBUG_QUEUE_MONITOR"
+
+  # Build CF1
+  - docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build clean
+  - docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=CF1
+
+  # Build CF1 with "all" features enabled
+  - docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build clean
+  - docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=CF1 DEBUG=1

Makefile

@@ -3,8 +3,11 @@
 # This Makefile compiles all the objet file to ./bin/ and the resulting firmware
 # image in ./cfX.elf and ./cfX.bin
 
-#Put your personal build config in config.mk and DO NOT COMMIT IT!
--include config.mk
+# Put your personal build config in tools/make/config.mk and DO NOT COMMIT IT!
+# Make a copy of tools/make/config.mk.example to get you started
+-include tools/make/config.mk
+
+CFLAGS += $(EXTRA_CFLAGS)
 
 ######### JTAG and environment configuration ##########
 OPENOCD           ?= openocd
@@ -26,9 +29,6 @@ OPENOCD_TARGET    ?= target/stm32f4x_stlink.cfg
 USE_FPU           ?= 1
 endif
 
-## Flag that can be added to config.mk
-# CFLAGS += -DUSE_ESKYLINK         # Set CRTP link to E-SKY receiver
-# CFLAGS += -DDEBUG_PRINT_ON_UART  # Redirect the console output to the UART
 
 ifeq ($(PLATFORM), CF1)
 REV               ?= F
@@ -52,12 +52,12 @@ PORT = $(FREERTOS)/portable/GCC/ARM_CM3
 endif
 
 ifeq ($(PLATFORM), CF1)
-LINKER_DIR = scripts/F103/linker
-ST_OBJ_DIR  = scripts/F103
+LINKER_DIR = tools/make/F103/linker
+ST_OBJ_DIR  = tools/make/F103
 endif
 ifeq ($(PLATFORM), CF2)
-LINKER_DIR = scripts/F405/linker
-ST_OBJ_DIR  = scripts/F405
+LINKER_DIR = tools/make/F405/linker
+ST_OBJ_DIR  = tools/make/F405
 endif
 
 STLIB = lib
@@ -75,7 +75,7 @@ VPATH_CF2 += $(STLIB)/STM32_CPAL_Driver/src
 VPATH_CF2 += $(STLIB)/STM32_USB_Device_Library/Core/src
 VPATH_CF2 += $(STLIB)/STM32_USB_OTG_Driver/src
 VPATH_CF2 += $(STLIB)/STM32_CPAL_Driver/devices/stm32f4xx
-VPATH_CF2 += deck/api
+VPATH_CF2 += deck/api deck/core deck/drivers/src
 CRT0_CF2 = startup_stm32f40xx.o system_stm32f4xx.o
 
 # Should maybe be in separate file?
@@ -115,38 +115,49 @@ endif
 ############### Source files configuration ################
 
 # Init
-PROJ_OBJ = main.o
-PROJ_OBJ_CF1 = platform_cf1.o
-PROJ_OBJ_CF2 = platform_cf2.o
+PROJ_OBJ += main.o
+PROJ_OBJ_CF1 += platform_cf1.o
+PROJ_OBJ_CF2 += platform_cf2.o
 
 # Drivers
 PROJ_OBJ += exti.o nvic.o motors.o
-PROJ_OBJ_CF1 += led_f103.o i2cdev_f103.o i2croutines.o adc_f103.o mpu6050.o hmc5883l.o ms5611.o nrf24l01.o eeprom.o
-PROJ_OBJ_CF2 += led_f405.o mpu6500.o i2cdev_f405.o ws2812.o lps25h.o ak8963.o eeprom.o maxsonar.o
-PROJ_OBJ_CF2 += uart_syslink.o swd.o uart1.o uart2.o
+PROJ_OBJ_CF1 += led_f103.o i2cdev_f103.o i2croutines.o adc_f103.o mpu6050.o
+PROJ_OBJ_CF1 += hmc5883l.o ms5611.o nrf24l01.o eeprom.o watchdog.o
+PROJ_OBJ_CF2 += led_f405.o mpu6500.o i2cdev_f405.o ws2812_cf2.o lps25h.o
+PROJ_OBJ_CF2 += ak8963.o eeprom.o maxsonar.o piezo.o
+PROJ_OBJ_CF2 += uart_syslink.o swd.o uart1.o uart2.o watchdog.o
 # USB Files
 PROJ_OBJ_CF2 += usb_bsp.o usblink.o usbd_desc.o usb.o
 
 # Hal
-PROJ_OBJ += crtp.o ledseq.o freeRTOSdebug.o
+PROJ_OBJ += crtp.o ledseq.o freeRTOSdebug.o buzzer.o
 PROJ_OBJ_CF1 += imu_cf1.o pm_f103.o nrf24link.o ow_none.o uart.o
 PROJ_OBJ_CF2 += imu_cf2.o pm_f405.o syslink.o radiolink.o ow_syslink.o proximity.o
 
 # Modules
 PROJ_OBJ += system.o comm.o console.o pid.o crtpservice.o param.o mem.o
 PROJ_OBJ += commander.o controller.o sensfusion6.o stabilizer.o
-PROJ_OBJ += log.o worker.o trigger.o sitaw.o
-PROJ_OBJ_CF2 += neopixelring.o expbrd.o platformservice.o bigquad.o
+PROJ_OBJ += log.o worker.o trigger.o sitaw.o queuemonitor.o
+PROJ_OBJ_CF1 += sound_cf1.o
+PROJ_OBJ_CF2 += platformservice.o sound_cf2.o
 
-# Expansion boards
-PROJ_OBJ_CF2 += exptest.o
+# Deck Core
+PROJ_OBJ_CF2 += deck.o deck_info.o deck_drivers.o
+
+# Deck API
 PROJ_OBJ_CF2 += deck_constants.o
 PROJ_OBJ_CF2 += deck_digital.o
 PROJ_OBJ_CF2 += deck_analog.o
+PROJ_OBJ_CF2 += buzzdeck.o
+
+# Decks
+PROJ_OBJ_CF2 += bigquad.o
+PROJ_OBJ_CF2 += exptest.o
+PROJ_OBJ_CF2 += ledring12.o
 
 # Utilities
 PROJ_OBJ += filter.o cpuid.o cfassert.o  eprintf.o crc.o fp16.o debug.o
-PROJ_OBJ += version.o
+PROJ_OBJ += version.o FreeRTOS-openocd.o
 PROJ_OBJ_CF1 += configblockflash.o
 PROJ_OBJ_CF2 += configblockeeprom.o
 
@@ -185,7 +196,7 @@ INCLUDES_CF2 += -I$(STLIB)/STM32_CPAL_Driver/inc
 INCLUDES_CF2 += -I$(STLIB)/STM32_CPAL_Driver/devices/stm32f4xx
 INCLUDES_CF2 += -I$(STLIB)/STM32_USB_Device_Library/Core/inc
 INCLUDES_CF2 += -I$(STLIB)/STM32_USB_OTG_Driver/inc
-INCLUDES_CF2 += -Ideck/interface
+INCLUDES_CF2 += -Ideck/interface -I deck/drivers/interface
 
 ifeq ($(USE_FPU), 1)
 	PROCESSOR = -mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16
@@ -234,7 +245,7 @@ CFLAGS += -MD -MP -MF $(BIN)/dep/$(@).d -MQ $(@)
 CFLAGS += -ffunction-sections -fdata-sections
 
 ASFLAGS = $(PROCESSOR) $(INCLUDES)
-LDFLAGS = --specs=nano.specs $(PROCESSOR) -Wl,-Map=$(PROG).map,--cref,--gc-sections
+LDFLAGS = --specs=nano.specs $(PROCESSOR) -Wl,-Map=$(PROG).map,--cref,--gc-sections,--undefined=uxTopUsedPriority
 
 #Flags required by the ST library
 ifeq ($(CLOAD), 1)
@@ -283,15 +294,13 @@ ifeq ($(SHELL),/bin/sh)
 endif
 
 print_version: compile
-ifeq ($(SHELL),/bin/sh)
-	@./scripts/print_revision.sh
-endif
 ifeq ($(PLATFORM), CF1)
 	@echo "Crazyflie Nano (1.0) build!"
 endif
 ifeq ($(PLATFORM), CF2)
 	@echo "Crazyflie 2.0 build!"
 endif
+	@$(PYTHON2) tools/make/versionTemplate.py --print-version
 ifeq ($(CLOAD), 1)
 	@echo "Crazyloader build!"
 endif
@@ -324,13 +333,16 @@ reset:
 	$(OPENOCD) -d0 -f $(OPENOCD_INTERFACE) -f $(OPENOCD_TARGET) -c init -c targets -c "reset" -c shutdown
 
 openocd:
-	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) -f $(OPENOCD_TARGET) -c init -c targets
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) -f $(OPENOCD_TARGET) -c init -c targets -c "\$$_TARGETNAME configure -rtos auto"
+
+trace:
+	$(OPENOCD) -d2 -f $(OPENOCD_INTERFACE) -f $(OPENOCD_TARGET) -c init -c targets -f tools/trace/enable_trace.cfg
 
 #Print preprocessor #defines
 prep:
 	@$(CC) -dD
 
-include scripts/targets.mk
+include tools/make/targets.mk
 
 #include dependencies
 -include $(DEPS)

README.md

@@ -1,4 +1,4 @@
-# Crazyflie 1.0/2.0 Firmware
+# Crazyflie 1.0/2.0 Firmware  [![Build Status](https://api.travis-ci.org/bitcraze/crazyflie-firmware.svg)](https://travis-ci.org/bitcraze/crazyflie-firmware)
 
 This project contains the source code for the Crazyflie 1.0/2.0 firmware. 
 
@@ -7,8 +7,10 @@ This project contains the source code for the Crazyflie 1.0/2.0 firmware.
 You'll need to use either the Crazyflie VM or install some of an ARM toolchain.
 
 ### OS X
-
-> `TODO: Please share!`
+```bash
+brew tap PX4/homebrew-px4
+brew install gcc-arm-none-eabi
+```
 
 ### Debian/Ubuntu
 
@@ -66,7 +68,7 @@ More information can be found on the
  |  + src       | Utils source code
  |  + interface | Utils header files. Interface with the other parts of the program
  + platform     | Platform specific files. Not really used yet
- + scripts      | Misc. scripts for LD, OpenOCD, make, version control, ...
+ + tools        | Misc. scripts for LD, OpenOCD, make, version control, ...
  |              | *** The two following folders contains the unmodified files ***
  + lib          | Libraries
  |  + FreeRTOS  | Source FreeRTOS folder. Cleaned up from the useless files

config/FreeRTOSConfig.h

@@ -54,6 +54,8 @@
 #ifndef FREERTOS_CONFIG_H
 #define FREERTOS_CONFIG_H
 
+#include <stdint.h>
+
 #include "config.h"
 #include "cfassert.h"
 /*-----------------------------------------------------------
@@ -76,7 +78,6 @@
 #define configMINIMAL_STACK_SIZE	( ( unsigned short ) FREERTOS_MIN_STACK_SIZE )
 #define configTOTAL_HEAP_SIZE		( ( size_t ) ( FREERTOS_HEAP_SIZE ) )
 #define configMAX_TASK_NAME_LEN		( 10 )
-#define configUSE_TRACE_FACILITY	0
 #define configUSE_16_BIT_TICKS		0
 #define configIDLE_SHOULD_YIELD		0
 #define configUSE_CO_ROUTINES 		0
@@ -87,7 +88,7 @@
 #define configUSE_MALLOC_FAILED_HOOK 1
 #define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
 
-#define configMAX_PRIORITIES		( ( unsigned portBASE_TYPE ) 5 )
+#define configMAX_PRIORITIES		( 6 )
 #define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
 
 /* Set the following definitions to 1 to include the API function, or zero
@@ -129,11 +130,23 @@ to exclude the API function. */
 #define TASK_PROXIMITY_ID_NBR   6
 
 #define configASSERT( x )  if( ( x ) == 0 ) assertFail(#x, __FILE__, __LINE__ )
+
 /*
 #define traceTASK_SWITCHED_IN() \
   { \
     extern void debugSendTraceInfo(unsigned int taskNbr); \
     debugSendTraceInfo((int)pxCurrentTCB->pxTaskTag); \
   }
 */
+
+// Queue monitoring
+#ifdef DEBUG_QUEUE_MONITOR
+    #undef traceQUEUE_SEND
+    #undef traceQUEUE_SEND_FAILED
+    #define traceQUEUE_SEND(xQueue) qm_traceQUEUE_SEND(xQueue)
+    void qm_traceQUEUE_SEND(void* xQueue);
+    #define traceQUEUE_SEND_FAILED(xQueue) qm_traceQUEUE_SEND_FAILED(xQueue)
+    void qm_traceQUEUE_SEND_FAILED(void* xQueue);
+#endif // DEBUG_QUEUE_MONITOR
+
 #endif /* FREERTOS_CONFIG_H */

config/config.h

@@ -43,6 +43,8 @@
 #define CONFIG_H_
 #include "nrf24l01.h"
 
+#include "trace.h"
+
 #define PROTOCOL_VERSION 2
 
 #ifdef STM32F4XX
@@ -52,7 +54,7 @@
   #define CONFIG_BLOCK_ADDRESS    (2048 * (64-1))
   #define MCU_ID_ADDRESS          0x1FFF7A10
   #define MCU_FLASH_SIZE_ADDRESS  0x1FFF7A22
-  #define FREERTOS_HEAP_SIZE      20000
+  #define FREERTOS_HEAP_SIZE      22000
   #define FREERTOS_MIN_STACK_SIZE 150       // M4-FPU register setup is bigger so stack needs to be bigger
   #define FREERTOS_MCU_CLOCK_HZ   168000000
 
@@ -67,25 +69,37 @@
 #endif
 
 
-//Task priorities. Higher number higher priority
+// Task priorities. Higher number higher priority
+#define STABILIZER_TASK_PRI     4
+#define ADC_TASK_PRI            3
 #define SYSTEM_TASK_PRI         2
-#define CRTP_RXTX_TASK_PRI      2
+#define CRTP_TX_TASK_PRI        2
+#define CRTP_RX_TASK_PRI        2
 #define LOG_TASK_PRI            1
 #define MEM_TASK_PRI            1
 #define PARAM_TASK_PRI          1
-#define STABILIZER_TASK_PRI     4
-#define SYSLINK_TASK_PRI        3
-#define USBLINK_TASK_PRI        3
 #define PROXIMITY_TASK_PRI      0
-//CF1
-#define ADC_TASK_PRI            0
 #define PM_TASK_PRI             0
-#define NRF24LINK_TASK_PRI      2
-#define ESKYLINK_TASK_PRI       1
-#define CRTP_TX_TASK_PRI        2
-#define CRTP_RX_TASK_PRI        2
 
-//Task names
+#ifdef PLATFORM_CF2
+  #define SYSLINK_TASK_PRI        5
+  #define USBLINK_TASK_PRI        3
+#endif
+
+#ifdef PLATFORM_CF1
+  #define NRF24LINK_TASK_PRI      2
+  #define ESKYLINK_TASK_PRI       1
+  #define UART_RX_TASK_PRI        2
+#endif
+
+// Not compiled
+#if 0
+  #define INFO_TASK_PRI           2
+  #define PID_CTRL_TASK_PRI       2
+#endif
+
+
+// Task names
 #define SYSTEM_TASK_NAME        "SYSTEM"
 #define ADC_TASK_NAME           "ADC"
 #define PM_TASK_NAME            "PWRMGNT"
@@ -101,7 +115,11 @@
 #define SYSLINK_TASK_NAME       "SYSLINK"
 #define USBLINK_TASK_NAME       "USBLINK"
 #define PROXIMITY_TASK_NAME     "PROXIMITY"
-//Task stack sizes
+#define UART_RX_TASK_NAME       "UART-RX"
+#define INFO_TASK_NAME          "INFO"
+#define PID_CTRL_TASK_NAME      "PID-CTRL"
+
+// Task stack sizes
 #define SYSTEM_TASK_STACKSIZE         (2* configMINIMAL_STACK_SIZE)
 #define ADC_TASK_STACKSIZE            configMINIMAL_STACK_SIZE
 #define PM_TASK_STACKSIZE             configMINIMAL_STACK_SIZE
@@ -117,6 +135,9 @@
 #define SYSLINK_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
 #define USBLINK_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
 #define PROXIMITY_TASK_STACKSIZE      configMINIMAL_STACK_SIZE
+#define UART_RX_TASK_STACKSIZE        configMINIMAL_STACK_SIZE
+#define INFO_TASK_STACKSIZE           configMINIMAL_STACK_SIZE
+#define PID_CTRL_TASK_STACKSIZE       configMINIMAL_STACK_SIZE
 
 //The radio channel. From 0 to 125
 #define RADIO_CHANNEL 80